22#include <coil/Properties.h>
26#include <rtm/idl/RTCSkel.h>
27#include <rtm/idl/OpenRTMSkel.h>
43#define ECOTHER_OFFSET 1000
47 class Configuration_impl;
53 class ExecutionContextBase;
54 using UniqueId = ExecutionContextHandle_t;
91 :
public virtual POA_OpenRTM::DataFlowComponent,
92 public virtual PortableServer::RefCountServantBase
744 CORBA::Boolean
is_alive(ExecutionContext_ptr exec_context)
override;
829 ExecutionContextHandle_t
2174 template <
typename VarType>
2176 const char* def_val,
2177 bool (*trans)(VarType&,
const char*) = coil::stringTo)
2179 RTC_TRACE((
"bindParameter(%s (default: %s))", param_name, def_val));
3397 bool autoclean =
true);
3399 template <
class Listener>
3410 : m_obj(obj), m_memfunc(memfunc)
3413 void operator()(
UniqueId ec_id)
override
3415 (m_obj.*m_memfunc)(ec_id);
3422 Noname* listener(
new Noname(obj, memfunc));
3529 bool autoclean =
true);
3531 template <
class Listener>
3543 : m_obj(obj), m_memfunc(memfunc)
3546 void operator()(
UniqueId ec_id, ReturnCode_t ret)
override
3548 (m_obj.*m_memfunc)(ec_id, ret);
3556 Noname* listener(
new Noname(obj, memfunc));
3641 bool autoclean =
true);
3643 template <
class Listener>
3647 void (
Listener::*memfunc)(const
RTC::PortProfile&))
3654 void (
Listener::*memfunc)(
const RTC::PortProfile&))
3655 : m_obj(obj), m_memfunc(memfunc)
3658 void operator()(
const RTC::PortProfile& pprofile)
override
3660 (m_obj.*m_memfunc)(pprofile);
3665 using Memfunc = void (
Listener::*)(
const RTC::PortProfile&);
3668 Noname* listener(
new Noname(obj, memfunc));
3753 bool autoclean =
true);
3755 template <
class Listener>
3766 : m_obj(obj), m_memfunc(memfunc)
3769 void operator()(
UniqueId ec_id)
override
3771 (m_obj.*m_memfunc)(ec_id);
3779 Noname* listener(
new Noname(obj, memfunc));
3863 bool autoclean =
true);
3865 template <
class Listener>
3869 void (
Listener::*memfunc)(const char*,
3877 void (
Listener::*memfunc)(
const char*, ConnectorProfile&))
3878 : m_obj(obj), m_memfunc(memfunc)
3881 void operator()(
const char* portname, ConnectorProfile& cprofile)
override
3883 (m_obj.*m_memfunc)(portname, cprofile);
3888 using Memfunc = void (
Listener::*)(
const char*, ConnectorProfile&);
3891 Noname* listener(
new Noname(obj, memfunc));
3979 bool autoclean =
true);
3981 template <
class Listener>
3985 void (
Listener::*memfunc)(const char*,
3994 void (
Listener::*memfunc)(
const char*,
3997 : m_obj(obj), m_memfunc(memfunc)
4000 void operator()(
const char* portname,
4001 ConnectorProfile& cprofile,
4002 ReturnCode_t ret)
override
4004 (m_obj.*m_memfunc)(portname, cprofile, ret);
4009 using Memfunc = void (
Listener::*)(
const char*, ConnectorProfile&, ReturnCode_t);
4012 Noname* listener(
new Noname(obj, memfunc));
4074 bool autoclean =
true);
4076 template <
class Listener>
4080 void (
Listener::*memfunc)(const char*,
4088 void (
Listener::*memfunc)(
const char*,
const char*))
4089 : m_obj(obj), m_memfunc(memfunc)
4092 void operator()(
const char* config_set_name,
4093 const char* config_param_name)
override
4095 (m_obj.*m_memfunc)(config_set_name, config_param_name);
4100 using Memfunc = void (
Listener::*)(
const char*,
const char*);
4103 Noname* listener(
new Noname(obj, memfunc));
4169 bool autoclean =
true);
4171 template <
class Listener>
4183 void (
Listener::*memfunc)(
const coil::Properties& config_set))
4184 : m_obj(obj), m_memfunc(memfunc)
4187 void operator()(
const coil::Properties& config_set)
override
4189 (m_obj.*m_memfunc)(config_set);
4194 using Memfunc = void (
Listener::*)(
const coil::Properties&);
4197 Noname* listener(
new Noname(obj, memfunc));
4264 bool autoclean =
true);
4266 template <
class Listener>
4270 void (
Listener::*memfunc)(const char*))
4277 : m_obj(obj), m_memfunc(memfunc)
4280 void operator()(
const char* config_set_name)
override
4282 (m_obj.*m_memfunc)(config_set_name);
4287 using Memfunc = void (
Listener::*)(
const char*);
4290 Noname* listener(
new Noname(obj, memfunc));
4402 bool autoclean =
true);
4404 template <
class Listener>
4408 void (
Listener::*memfunc)(const char* state))
4415 : m_obj(obj), m_memfunc(memfunc)
4418 void operator()(
const char* state)
override
4420 (m_obj.*m_memfunc)(state);
4425 using Memfunc = void (
Listener::*)(
const char*);
4428 Noname* listener(
new Noname(obj, memfunc));
4531 bool autoclean =
true);
4533 template <
class Listener>
4537 void (
Listener::*memfunc)(const char* state,
4545 void (
Listener::*memfunc)(
const char*, ReturnCode_t))
4546 : m_obj(obj), m_memfunc(memfunc)
4549 void operator()(
const char* state, ReturnCode_t ret)
override
4551 (m_obj.*m_memfunc)(state, ret);
4556 using Memfunc = void (
Listener::*)(
const char*, ReturnCode_t);
4559 Noname* listener(
new Noname(obj, memfunc));
4657 bool autoclean =
true);
4659 template <
class Listener>
4663 void (
Listener::*memfunc)(const
RTC::PortProfile&))
4670 void (
Listener::*memfunc)(
const RTC::FsmProfile&))
4671 : m_obj(obj), m_memfunc(memfunc)
4674 void operator()(
const RTC::PortProfile& pprofile)
4676 (m_obj.*m_memfunc)(pprofile);
4681 using Memfunc = void (
Listener::*)(
const RTC::FsmProfile&);
4684 Noname* listener(
new Noname(obj, memfunc));
4770 bool autoclean =
true);
4772 template <
class Listener>
4776 void (
Listener::*memfunc)(const
RTC::PortProfile&))
4783 void (
Listener::*memfunc)(
const RTC::FsmStructure&))
4784 : m_obj(obj), m_memfunc(memfunc)
4787 void operator()(
const RTC::PortProfile& pprofile)
4789 (m_obj.*m_memfunc)(pprofile);
4794 using Memfunc = void (
Listener::*)(
const RTC::FsmStructure&);
4797 Noname* listener(
new Noname(obj, memfunc));
5161 return m_id == std::string(prof.id);
5452 return m_name == std::string(nv.name);
5472 if (!::CORBA::is_nil(ecs))
5475 ExecutionContext::_duplicate(ecs));
5490 :
m_ec(ExecutionContext::_duplicate(ec))
5493#ifdef ORB_IS_ORBEXPRESS
5494 bool operator()(ExecutionContextService_var ecs)
5498 if (!::CORBA::is_nil(ecs.in()))
5500 ExecutionContext_var ec;
5501 ec = ExecutionContext::_narrow(ecs.in());
5502 return m_ec->_is_equivalent(ec);
5510 if (!::CORBA::is_nil(ecs))
5512 ExecutionContext_var ec;
5513 ec = ExecutionContext::_narrow(ecs);
5514 return m_ec->_is_equivalent(ec);
5537 : m_comp(
RTC::LightweightRTObject::_duplicate(comp))
5542 if (!::CORBA::is_nil(ec) && !ec->_non_existent())
5544 RTC::LifeCycleState state = ec->get_component_state(m_comp);
5545 if (state == RTC::ACTIVE_STATE)
5547 ec->deactivate_component(
5548 RTC::LightweightRTObject::_duplicate(m_comp));
5550 else if (state == RTC::ERROR_STATE)
5552 ec->reset_component(
5553 RTC::LightweightRTObject::_duplicate(m_comp));
component action listener class
Configuration Administration classes.
component action listener class
RTC::Port implementation for InPort.
RTC's Port administration class.
port's internal action listener classes
SDO service administration class.
RT component logger class.
#define RTC_TRACE(fmt)
Trace level log output macro.
Definition SystemLogger.h:687
ComponentActionListeners class.
Definition ComponentActionListener.h:1026
bool notify(PreComponentActionListenerType type, UniqueId ec_id)
Definition ComponentActionListener.h:1260
ConfigAdmin class.
Definition ConfigAdmin.h:612
bool bindParameter(const char *param_name, VarType &var, const char *def_val, bool(*trans)(VarType &, const char *)=coil::stringTo)
Setup for configuration parameters.
Definition ConfigAdmin.h:693
ConfigurationParamListener class.
Definition ConfigurationListener.h:75
ConfigurationSetListener class.
Definition ConfigurationListener.h:191
ConfigurationSetNameListener class.
Definition ConfigurationListener.h:304
RT Conponent CORBA service/consumer Port.
Definition CorbaPort.h:625
ExecutionContextActionListener class.
Definition ComponentActionListener.h:521
A base class for ExecutionContext.
Definition ExecutionContextBase.h:366
FsmActionListeners class.
Definition FsmActionListener.h:1445
bool notify(PreFsmActionListenerType type, const char *state)
Definition FsmActionListener.h:1679
FsmProfileListener class.
Definition FsmActionListener.h:723
FsmStructureListener class.
Definition FsmActionListener.h:942
Port for InPort.
Definition InPortBase.h:70
Logger class.
Definition SystemLogger.h:101
Manager class.
Definition Manager.h:91
Output base class.
Definition OutPortBase.h:229
PortActionListener class.
Definition ComponentActionListener.h:411
PortAdmin class.
Definition PortAdmin.h:55
Port base class.
Definition PortBase.h:132
PortConnectListener class.
Definition PortConnectListener.h:84
PortConnectListeners class.
Definition PortConnectListener.h:487
PortConnectRetListener class.
Definition PortConnectListener.h:204
PostComponentActionListener class.
Definition ComponentActionListener.h:290
PostFsmActionListener class.
Definition FsmActionListener.h:475
PreComponentActionListener class.
Definition ComponentActionListener.h:123
PreFsmActionListener class.
Definition FsmActionListener.h:232
Definition RTObject.h:5425
void setSdoServiceConsumer(SdoServiceAdmin *sdoservice, const char *id)
SdoServiceConsumerTerminator()
RT-Component class.
Definition RTObject.h:93
void postOnInitialize(UniqueId ec_id, ReturnCode_t ret)
Definition RTObject.h:4885
UniqueId bindContext(ExecutionContext_ptr exec_context)
ComponentActionListeners m_actionListeners
ComponentActionListener holder.
Definition RTObject.h:5389
void addExecutionContextActionListener(ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)
bool removeSdoServiceConsumer(const char *id)
[local interface] Remove a SDO service provider
ReturnCode_t on_startup(UniqueId ec_id) override
[ComponentAction CORBA interface] Startup RTC
void onAttachExecutionContext(UniqueId ec_id)
Definition RTObject.h:4955
void setInstanceName(const char *instance_name)
[local interface] Set instance name
void startMineEC()
Starting my EC This function start mine ECs. This is called from only initialize().
const char * getDescription()
[local interface] GetDescription
Definition RTObject.h:1947
ECActionListener * addExecutionContextActionListener(ECActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId))
Definition RTObject.h:3757
bool addOutPort(const char *name, OutPortBase &outport)
[local interface] Register DataOutPort
ExecutionContext_ptr getExecutionContext(RTC::UniqueId ec_id)
[local interface] Getting current execution context
void registerOutPort(const char *name, OutPortBase &outport)
[local interface] Register DataOutPort
virtual ReturnCode_t onError(RTC::UniqueId ec_id)
Callback function for error handling.
virtual ReturnCode_t onShutdown(RTC::UniqueId ec_id)
Callback function for shutdown action.
virtual ReturnCode_t onRateChanged(RTC::UniqueId ec_id)
Callback function to change execution cycle.
void removePortConnectRetListener(PortConnectRetListenerType listener_type, PortConnectRetListener *listener)
Removing PortConnectRet type listener.
void addConfigurationParamListener(ConfigurationParamListenerType type, ConfigurationParamListener *listener, bool autoclean=true)
Adding ConfigurationParamListener.
ReturnCode_t detach_context(UniqueId ec_id) override
[CORBA interface] Detach ExecutionContext.
ReturnCode_t createContexts(std::vector< coil::Properties > &ec_args)
creating, initializing and binding context
ReturnCode_t exit() override
[CORBA interface]top the RTC's execution context(s) and finalize it along with its contents.
void removePortConnectListener(PortConnectListenerType listener_type, PortConnectListener *listener)
Removing PortConnect type listener.
RTObject_impl(CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)
Constructor.
void preOnFsmEntry(const char *state)
Definition RTObject.h:4974
bool removeSdoServiceProvider(const char *id)
[local interface] Remove a SDO service provider
const char * getVendor()
[local interface] Get vendor
Definition RTObject.h:1998
ReturnCode_t on_state_update(UniqueId ec_id) override
[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC
void postOnFsmExit(const char *state, ReturnCode_t ret)
Definition RTObject.h:5005
void postOnReset(UniqueId ec_id, ReturnCode_t ret)
Definition RTObject.h:4925
void addPortConnectListener(PortConnectListenerType listener_type, PortConnectListener *listener, bool autoclean=true)
Adding PortConnect type listener.
void preOnFsmExit(const char *state)
Definition RTObject.h:4982
SDOPackage::ServiceProfile * get_service_profile(const char *id) override
[SDO interface] Get specified ServiceProfile
void postOnFsmInit(const char *state, ReturnCode_t ret)
Definition RTObject.h:4993
void removePreComponentActionListener(PreComponentActionListenerType listener_type, PreComponentActionListener *listener)
Removing PreComponentAction type listener.
void postOnStartup(UniqueId ec_id, ReturnCode_t ret)
Definition RTObject.h:4895
bool m_readAllCompletion
flag for readAll()
Definition RTObject.h:5356
void finalizeMineEC()
Finalize my EC This function finalize mine ECs. This is called from only exit().
void postOnDeactivated(UniqueId ec_id, ReturnCode_t ret)
Definition RTObject.h:4910
ReturnCode_t reset(RTC::UniqueId ec_id)
[local interface] Resetting and go to Inactive state
void registerInPort(const char *name, InPortBase &inport)
[local interface] Register DataInPort
CORBA::ORB_var m_pORB
The pointer to the ORB .
Definition RTObject.h:5126
void preOnActivated(UniqueId ec_id)
Definition RTObject.h:4845
void removeFsmStructureListener(FsmStructureListenerType listener_type, FsmStructureListener *listener)
Removing FsmStructure type listener.
char * get_sdo_type() override
[SDO interface] Get SDO type
SdoServiceConsumerTerminator * m_sdoconterm
Definition RTObject.h:5435
FsmProfileListener * addFsmProfileListener(FsmProfileListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))
Definition RTObject.h:4661
void preOnShutdown(UniqueId ec_id)
Definition RTObject.h:4840
void postOnActivated(UniqueId ec_id, ReturnCode_t ret)
Definition RTObject.h:4905
void addPostComponentActionListener(PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)
const char * getCategory()
[local interface] Get category information
Definition RTObject.h:2023
PortServiceList * get_ports() override
[RTObject CORBA interface] Get Ports
void preOnAborting(UniqueId ec_id)
Definition RTObject.h:4855
SDOPackage::OrganizationList m_sdoOwnedOrganizations
SDO owned organization list .
Definition RTObject.h:5147
void preOnStateUpdate(UniqueId ec_id)
Definition RTObject.h:4875
ReturnCode_t getPrivateContextOptions(std::vector< coil::Properties > &ec_args)
getting individual EC options from RTC's configuration file
const char * getTypeName()
[local interface] Get type name
Definition RTObject.h:1922
bool removePort(CorbaPort &port)
[local interface] Unregister Port
ReturnCode_t setExecutionRate(RTC::UniqueId ec_id, double rate)
[local interface] Setting current context' execution rate
virtual ReturnCode_t onStateUpdate(RTC::UniqueId ec_id)
Callback function to update the state.
SDOPackage::OrganizationList * get_organizations() override
[SDO interface] Get Organization list
bool removeOutPort(OutPortBase &outport)
[local interface] Unregister OutPort
void registerPort(PortBase &port)
[local interface] Register Port
bool writeAll()
The write() method of all OutPort is called.
PostFsmActionListener * addPostFsmActionListener(PostFsmActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *state, ReturnCode_t ret))
Definition RTObject.h:4535
RTObject_ptr getObjRef() const
[local interface] Get the object reference
SdoServiceAdmin m_sdoservice
SDO Service Administrator Object .
Definition RTObject.h:5320
void preOnInitialize(UniqueId ec_id)
Definition RTObject.h:4825
std::vector< ExecutionContextBase * > m_eclist
List of ExecutionContextBase .
Definition RTObject.h:5266
bool removeInPort(InPortBase &inport)
[local interface] Unregister InPort
void preOnFinalize(UniqueId ec_id)
Definition RTObject.h:4830
void postOnStateUpdate(UniqueId ec_id, ReturnCode_t ret)
Definition RTObject.h:4935
ReturnCode_t finalize() override
[CORBA interface] Finalize the RTC for destruction
void addPortActionListener(PortActionListenerType listener_type, PortActionListener *listener, bool autoclean=true)
Adding PortAction type listener.
void removeSdoServiceConsumerStartThread(const char *id)
[local interface] Remove a SDO service provider
void onRemovePort(const PortProfile &pprof)
Definition RTObject.h:4950
~RTObject_impl() override
Virtual destructor.
ExecutionContextServiceList m_ecOther
List of participating ExecutionContextService .
Definition RTObject.h:5275
void deletePortByName(const char *port_name)
[local interface] Delete Port by specifying its name
void addConfigurationSetNameListener(ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)
Adding ConfigurationSetNameListener.
void addFsmProfileListener(FsmProfileListenerType listener_type, FsmProfileListener *listener, bool autoclean=true)
Adding FsmProfile type listener.
const char * getInstanceName()
[local interface] Get instance name
Definition RTObject.h:1876
void postOnRateChanged(UniqueId ec_id, ReturnCode_t ret)
Definition RTObject.h:4940
void preOnStartup(UniqueId ec_id)
Definition RTObject.h:4835
virtual ReturnCode_t onStartup(RTC::UniqueId ec_id)
Callback function for startup action.
void preOnFsmDo(const char *state)
Definition RTObject.h:4978
void postOnFsmDo(const char *state, ReturnCode_t ret)
Definition RTObject.h:5001
std::vector< InPortBase * > m_inports
List of InPortBase* .
Definition RTObject.h:5239
coil::Properties & getProperties()
[local interface] Get RTC property
void preOnRateChanged(UniqueId ec_id)
Definition RTObject.h:4880
bool readAll()
Readout the value from All InPorts.
ReturnCode_t on_deactivated(UniqueId ec_id) override
[ComponentAction CORBA interface] Deactivate RTC
ConfigAdmin & getConfigService()
Getting configuration service.
Definition RTObject.h:2251
void addPostFsmActionListener(PostFsmActionListenerType listener_type, PostFsmActionListener *listener, bool autoclean=true)
Adding PostFsmAction type listener.
CORBA::Any * get_status(const char *name) override
[SDO interface] Get SDO Status
Manager * m_pManager
Manager object .
Definition RTObject.h:5117
void setINSObjRef(RTC::LightweightRTObject_ptr obj)
ConfigurationParamListener * addConfigurationParamListener(ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, const char *))
Definition RTObject.h:4078
ReturnCode_t getGlobalContextOptions(coil::Properties &global_ec_props)
getting global EC options from rtc.conf
ReturnCode_t on_aborting(UniqueId ec_id) override
[ComponentAction CORBA interface] Transition to Error State
void removeConfigurationParamListener(ConfigurationParamListenerType type, ConfigurationParamListener *listener)
Removing ConfigurationParamListener.
virtual ReturnCode_t onActivated(RTC::UniqueId ec_id)
Callback function to activate.
void postOnShutdown(UniqueId ec_id, ReturnCode_t ret)
Definition RTObject.h:4900
void removePortActionListener(PortActionListenerType listener_type, PortActionListener *listener)
Removing PortAction type listener.
const char * getVersion()
[local interface] Get version information
Definition RTObject.h:1973
bool bindParameter(const char *param_name, VarType &var, const char *def_val, bool(*trans)(VarType &, const char *)=coil::stringTo)
Setup for configuration parameters.
Definition RTObject.h:2175
FsmActionListeners m_fsmActionListeners
ComponentActionListener holder.
Definition RTObject.h:5419
SDOPackage::ServiceProfileList * get_service_profiles() override
[SDO interface] Get SDO ServiceProfile
SDOPackage::OrganizationList m_sdoOrganizations
SDO organization .
Definition RTObject.h:5191
bool m_writeAllCompletion
flag for writeAll()
Definition RTObject.h:5374
SDOPackage::Configuration_var m_pSdoConfig
The pointer to the SDO Configuration Interface .
Definition RTObject.h:5182
static bool isOwnExecutionContext(RTC::UniqueId ec_id)
[local interface] Checking if the current context is own context
double getExecutionRate(RTC::UniqueId ec_id)
[local interface] Getting current context' execution rate
void preOnExecute(UniqueId ec_id)
Definition RTObject.h:4870
bool addPort(CorbaPort &port)
[local interface] Register Port
PreFsmActionListener * addPreFsmActionListener(PreFsmActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *state))
Definition RTObject.h:4406
SDOPackage::Configuration_impl * m_pSdoConfigImpl
The pointer to the SDO Configuration Object .
Definition RTObject.h:5173
ReturnCode_t on_activated(UniqueId ec_id) override
[ComponentAction CORBA interface] Activate RTC
SDOPackage::Monitoring_ptr get_monitoring() override
[SDO interface] Get Monitoring object
SDOPackage::NVList m_sdoStatus
SDO Status .
Definition RTObject.h:5200
ReturnCode_t on_execute(UniqueId ec_id) override
[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC
SDOPackage::DeviceProfile * get_device_profile() override
[SDO interface] Get SDO DeviceProfile list
bool m_writeAll
flag for writeAll()
Definition RTObject.h:5338
bool removePort(PortBase &port)
[local interface] Unregister Port
void finalizeContexts()
The ExecutionContextBase list is deleted.
const std::vector< OutPortBase * > & getOutPorts() const
Definition RTObject.h:2505
PostComponentActionListener * addPostComponentActionListener(PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))
Definition RTObject.h:3533
void postOnFsmEntry(const char *state, ReturnCode_t ret)
Definition RTObject.h:4997
ExecutionContextList * get_owned_contexts() override
[CORBA interface] Get ExecutionContextList.
void removePostFsmActionListener(PostFsmActionListenerType listener_type, PostFsmActionListener *listener)
Removing PostFsmAction type listener.
UniqueId attach_context(ExecutionContext_ptr exec_context) override
[CORBA interface] Attach ExecutionContext
ReturnCode_t on_reset(UniqueId ec_id) override
[ComponentAction CORBA interface] Resetting RTC
void preOnFsmStateChange(const char *state)
Definition RTObject.h:4986
bool m_created
Created Status Flag .
Definition RTObject.h:5284
bool addPort(PortBase &port)
[local interface] Register Port
virtual ReturnCode_t onReset(RTC::UniqueId ec_id)
Callback function to reset.
ReturnCode_t on_shutdown(UniqueId ec_id) override
[ComponentAction CORBA interface] Shutdown RTC
ReturnCode_t initialize() override
[CORBA interface] Initialize the RTC that realizes this interface.
ConfigurationSetNameListener * addConfigurationSetNameListener(ConfigurationSetNameListenerType type, Listener &obj, void(Listener::*memfunc)(const char *))
Definition RTObject.h:4268
ReturnCode_t on_error(UniqueId ec_id) override
[ComponentAction CORBA interface] Error Processing of RTC
PortConnectRetListener * addPortConnectRetListener(PortConnectRetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &, ReturnCode_t))
Definition RTObject.h:3983
ExecutionContextList * get_participating_contexts() override
[CORBA interface] Get participating ExecutionContextList.
coil::Properties m_properties
RTC's Property .
Definition RTObject.h:5302
ReturnCode_t on_rate_changed(UniqueId ec_id) override
[DataFlowComponentAction CORBA interface] Notify rate changed
void addConfigurationSetListener(ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)
Adding ConfigurationSetListener.
ReturnCode_t activate(RTC::UniqueId ec_id)
[local interface] Make transition to Active state
bool removePort(PortService_ptr port)
[local interface] Unregister Port
Logger rtclog
Logger stream .
Definition RTObject.h:5109
ComponentProfile m_profile
ComponentProfile .
Definition RTObject.h:5212
ReturnCode_t getInheritedECOptions(coil::Properties &default_opts)
Get inherited EC options This function getting inherited EC options. This is called from only initMin...
FsmStructureListener * addFsmStructureListener(FsmStructureListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))
Definition RTObject.h:4774
static ReturnCode_t findExistingEC(coil::Properties &ec_arg, RTC::ExecutionContextBase *&ec)
fiding existing EC from the factory
virtual ReturnCode_t onDeactivated(RTC::UniqueId ec_id)
Callback function to deactivate.
bool addSdoServiceProvider(const SDOPackage::ServiceProfile &prof, SdoServiceProviderBase *provider)
[local interface] Set a SDO service provider
void addPreFsmActionListener(PreFsmActionListenerType listener_type, PreFsmActionListener *listener, bool autoclean=true)
Adding PreFsmAction type listener.
ReturnCode_t getContextOptions(std::vector< coil::Properties > &ec_args)
getting EC options
SDOPackage::OrganizationList * get_owned_organizations() override
[SDO interface] Get Organization list
void shutdown()
Shutdown RTC This operation ececutes RTC's termination. This unregisters all Ports,...
void removeConfigurationSetNameListener(ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener)
Removing ConfigurationSetNameListener.
char * get_sdo_id() override
[SDO interface] Get the SDO ID
ConfigurationSetListener * addConfigurationSetListener(ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))
Definition RTObject.h:4173
void addPreComponentActionListener(PreCompActionListenerType listener_type, PreCompActionListener *listener, bool autoclean=true)
void preOnReset(UniqueId ec_id)
Definition RTObject.h:4865
void addFsmStructureListener(FsmStructureListenerType listener_type, FsmStructureListener *listener, bool autoclean=true)
Adding FsmStructure type listener.
void postOnError(UniqueId ec_id, ReturnCode_t ret)
Definition RTObject.h:4920
void postOnFsmStateChange(const char *state, ReturnCode_t ret)
Definition RTObject.h:5009
void setObjRef(RTObject_ptr rtobj)
[local interface] Set the object reference
void removeConfigurationSetListener(ConfigurationSetListenerType type, ConfigurationSetListener *listener)
Removing ConfigurationSetListener.
void postOnAborting(UniqueId ec_id, ReturnCode_t ret)
Definition RTObject.h:4915
const std::vector< InPortBase * > & getInPorts() const
Definition RTObject.h:2504
virtual ReturnCode_t onExecute(RTC::UniqueId ec_id)
Callback function to execute periodically.
bool addInPort(const char *name, InPortBase &inport)
[local interface] Register DataInPort
void preOnFsmInit(const char *state)
Definition RTObject.h:4970
ExecutionContextServiceList m_ecMine
List of owned ExecutionContextService .
Definition RTObject.h:5257
ComponentProfile * get_component_profile() override
[RTObject CORBA interface] Get RTC's profile
void postOnExecute(UniqueId ec_id, ReturnCode_t ret)
Definition RTObject.h:4930
void onAddPort(const PortProfile &pprof)
Definition RTObject.h:4945
void deletePort(PortService_ptr port)
[local interface] Unregister Port
void deletePort(PortBase &port)
[local interface] Unregister Port
RTC::LightweightRTObject_var m_insref
Definition RTObject.h:5421
PortAdmin m_portAdmin
List of Port Object reference .
Definition RTObject.h:5230
void postOnFinalize(UniqueId ec_id, ReturnCode_t ret)
Definition RTObject.h:4890
void preOnError(UniqueId ec_id)
Definition RTObject.h:4860
std::vector< std::string > getNamingNames()
[local interface] Get Naming Server information
virtual ReturnCode_t onInitialize()
Callback function to initialize.
void removeExecutionContextActionListener(ECActionListenerType listener_type, ECActionListener *listener)
Removing ExecutionContextAction type listener.
void updateParameters(const char *config_set)
Update configuration parameters (by ID)
PortableServer::POA_var m_pPOA
The pointer to the POA .
Definition RTObject.h:5135
void preOnDeactivated(UniqueId ec_id)
Definition RTObject.h:4850
bool m_exiting
RTC Finalize Status Flag .
Definition RTObject.h:5293
void registerPort(PortService_ptr port)
[local interface] Register Port
bool addPort(PortService_ptr port)
[local interface] Register Port
SDOPackage::Configuration_ptr get_configuration() override
[SDO interface] Get Configuration object
void finalizePorts()
Unregister All Ports.
bool addSdoServiceConsumer(const SDOPackage::ServiceProfile &prof)
[local interface] Set a SDO service provider
ReturnCode_t deactivate(RTC::UniqueId ec_id)
[local interface] Make transition to Inactive state
virtual ReturnCode_t onFinalize()
Callback function to finalize.
void removeFsmProfileListener(FsmProfileListenerType listener_type, FsmProfileListener *listener)
Removing FsmProfile type listener.
void setWriteAll(bool write=true, bool completion=false)
Set whether to execute the writeAll() method.
CORBA::Boolean is_alive(ExecutionContext_ptr exec_context) override
[CORBA interface] Confirm whether RTC is the alive state
RTObject_var m_objref
Object reference .
Definition RTObject.h:5221
ReturnCode_t on_initialize() override
[ComponentAction CORBA interface] Initialize RTC
void deletePort(CorbaPort &port)
[local interface] Unregister Port
SDOPackage::NVList * get_status_list() override
[SDO interface] Get SDO Status list
void onDetachExecutionContext(UniqueId ec_id)
Definition RTObject.h:4961
ConfigAdmin m_configsets
Configuration Administrator Object .
Definition RTObject.h:5311
void setProperties(const coil::Properties &prop)
[local interface] Set RTC property
void finalizeOtherEC()
Finalize my EC This function detaching the RTC from others' ECs. This is called from only exit().
PreComponentActionListener * addPreComponentActionListener(PreCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id))
Definition RTObject.h:3401
void initSdoService()
initialize SDO service stuff This function calles SdoService's initialize().
void setReadAll(bool read=true, bool completion=false)
Set whether to execute the readAll() method.
bool m_readAll
flag for readAll()
Definition RTObject.h:5329
PortConnectListeners m_portconnListeners
PortConnectListener holder.
Definition RTObject.h:5404
ReturnCode_t on_finalize() override
[ComponentAction CORBA interface] Finalize RTC
void registerPort(CorbaPort &port)
[local interface] Register Port
ExecutionContextHandle_t get_context_handle(ExecutionContext_ptr cxt) override
[CORBA interface] Return a handle of a ExecutionContext
ReturnCode_t initMineEC()
Initialize my EC This function initializes mine ECs. This is called from only initialize().
void addPortConnectRetListener(PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)
Adding PortConnectRet type listener.
PortActionListener * addPortActionListener(PortActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))
Definition RTObject.h:3645
void removePreFsmActionListener(PreFsmActionListenerType listener_type, PreFsmActionListener *listener)
Removing PreFsmAction type listener.
PortConnectListener * addPortConnectListener(PortConnectListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &))
Definition RTObject.h:3867
SDOPackage::SDOService_ptr get_sdo_service(const char *id) override
[SDO interface] Get specified SDO Service's reference
std::vector< OutPortBase * > m_outports
List of OutPortBase* .
Definition RTObject.h:5248
void removePostComponentActionListener(PostComponentActionListenerType listener_type, PostComponentActionListener *listener)
Removing PostComponentAction type listener.
ExecutionContext_ptr get_context(UniqueId ec_id) override
[CORBA interface] Get ExecutionContext.
virtual ReturnCode_t onAborting(RTC::UniqueId ec_id)
Callback function to abort.
RTObject_impl(Manager *manager)
Constructor.
Definition SdoServiceAdmin.h:151
Definition SdoServiceProviderBase.h:136
Configuration implementation class.
Definition SdoConfiguration.h:152
void push_back(CorbaSequence &seq, SequenceElement elem)
Push the new element back to the CORBA sequence.
Definition CORBA_SeqUtil.h:175
PortConnectListenerType
The types of ConnectorDataListener.
Definition PortConnectListener.h:51
PortConnectRetListenerType
The types of PortConnectRetListenerType.
Definition PortConnectListener.h:163
ExecutionContextActionListenerType
The types of ExecutionContextActionListener.
Definition ComponentActionListener.h:494
FsmStructureListenerType
The types of FsmStructureListener.
Definition FsmActionListener.h:812
ConfigurationSetNameListenerType
The types of ConfigurationSetNameListener.
Definition ConfigurationListener.h:272
ConfigurationSetListenerType
The types of ConfigurationSetListener.
Definition ConfigurationListener.h:161
ExecutionContextHandle_t UniqueId
Definition ComponentActionListener.h:34
PreComponentActionListenerType
The types of ConnectorDataListener.
Definition ComponentActionListener.h:60
coil::Properties Properties
Definition RTC.h:72
PortActionListenerType
The types of PortActionListener.
Definition ComponentActionListener.h:384
PreFsmActionListenerType
The types of PreFsmActionListener.
Definition FsmActionListener.h:90
PostFsmActionListenerType
The types of PostFsmActionListener.
Definition FsmActionListener.h:333
FsmProfileListenerType
The types of FsmProfileListener.
Definition FsmActionListener.h:575
PostComponentActionListenerType
The types of ConnectorDataListener.
Definition ComponentActionListener.h:226
ConfigurationParamListenerType
The types of ConnectorDataListener.
Definition ConfigurationListener.h:46
SDO Package.
Definition InPortConsumer.h:35
Definition DefaultPeriodicTask.h:24
Functor to deactivate RTC .
Definition RTObject.h:5535
deactivate_comps(LightweightRTObject_ptr comp)
Definition RTObject.h:5536
LightweightRTObject_var m_comp
Definition RTObject.h:5557
void operator()(ExecutionContextService_ptr ec)
Definition RTObject.h:5540
Functor to copy ExecutionContext .
Definition RTObject.h:5465
ExecutionContextList & m_eclist
Definition RTObject.h:5478
ec_copy(ExecutionContextList &eclist)
Definition RTObject.h:5466
void operator()(ExecutionContextService_ptr ecs)
Definition RTObject.h:5470
Functor to find ExecutionContext .
Definition RTObject.h:5488
bool operator()(ExecutionContextService_ptr ecs)
Definition RTObject.h:5506
ExecutionContext_var m_ec
Definition RTObject.h:5524
ec_find(ExecutionContext_ptr &ec)
Definition RTObject.h:5489
Functor to find NVList .
Definition RTObject.h:5448
bool operator()(const SDOPackage::NameValue &nv)
Definition RTObject.h:5450
nv_name(const char *name)
Definition RTObject.h:5449
std::string m_name
Definition RTObject.h:5454
Functor to find from SDOService Profile List by id .
Definition RTObject.h:5157
svc_name(const char *id)
Definition RTObject.h:5158
bool operator()(const SDOPackage::ServiceProfile &prof)
Definition RTObject.h:5159
std::string m_id
Definition RTObject.h:5163